Make sure that after "PORT:" it says something like "usbserial-A700xxx". If not, select "RESCAN SERIAL PORTS". Note: an arduino mega is necessary not because of the numbers of outputs but because the flash memory space in the arduino UNO is not large enough. Previous studies had mainly looked at snake movements on flat surfaces, but rarely in 3D terrain, except for on trees. Li said these did not necessarily account for real-life large obstacles such as pieces of rubble and debris that search and rescue robots would have to scale.

The ambient light sensor will need to be placed near the center or end of the snake, at least far enough away that it will not sense any light aimed towards the head.You can also apply loctite to some of the screws so that they dont come out. Make sure not to do this before you are certain you are finished, because it is very hard to undo the screw once you've applied loctite. Also, the green loctite is a little less permanent. One of the main problems with the previous steps was that each piece of the project was constructed separately, but when added together it created problems in the programming. The photocell sensors required immediate reaction to control the motors, but the groups of LED and vibration motor needed different lengths of delays to control them. Also the LED groups blinked at the same time even though they are supposed to be three separate groups. To control everything in the code the way we need to, we require a timer. Again, the code is similar to the photocell instructable. We create photocellReading variables to store the analog readings from the pins and then start the main loop. We will set the variable to the analog reading and print it out to see if it is working. We pause for 1 second, or else the reading will print out so fast we will be unable to read them. I screwed on the hose clamps onto the head and tail ends, but I am not sure this is necessary, it was just to be extra safe. In this step we will be taking the three photocell sensors and using them to drive the motor speeds. In our code we will be refering the motors to Motor A or Motor B, based on where they are plugged into the motor shield, and the sensors will be Sensor 3, Sensor 4, and Sensor 5, based on where they are attached to the analog readings. Sensor 3 and Sensor 4 will be the directional sensors and Sensor 5 will be the ambient light sensor.

Cut two a piece of rubber about 1.75" diameter, so that it fits inside of the vacuum reducers. Cut two pieces of cord about 2 feet long, to act as tethers and to help position the body inside of the skin.Adding the vibration motor is very similar to the LEDs. It does not require to be connected to the 5V power supply on the arduino board, but gets it’s power from the Pin it connects to. We are connecting the vibration motor to Pin 10. It does not matter what pin you connect the vibration motor to, but we wanted to physically separate it from the LED groups for less confusion. a b Marvi, Hamidreza (2014-10-10). "Sidewinding with minimal slip: Snake and robot ascent of sandy slopes". Science. 346 (6206): 224–229. arXiv: 1410.2945. Bibcode: 2014Sci...346..224M. doi: 10.1126/science.1255718. PMID 25301625. S2CID 23364137 . Retrieved 2016-05-04.

Snakes have a bit of a reputation of being slimy and creepy (not true, but that’s the rep they’ve got). But for those of you who appreciate snakes for the critters they truly are, this awesome Robo Snake, in a choice of scarlet or green, might be just the fella you’re after.Just string the other piece of string through. Leave about 10 inches of string on the inside, and a little more on the outside. This string acts solely as a tether. You can eventually lengthen it by attaching another string to it so that you can have a longer tether. Snake robots are also being developed for search and rescue purposes at Carnegie Mellon University's Biorobotics Lab. [ citation needed] See also [ edit ] When we replaces the wiring, we just twisted the end of the electrical piece and the wire together to connect the circuit. If you can, we recommend soldering these pieces together, it will create a stronger bond and be less likely to break. We needed to return some of our materials to the classroom, so we twisted the wiring together and wrapped each end in electrical tape to hold the bond together. The attached graphs show the output angle values of each servo mapped over time, slightly out of phase from each other. The difference is when there is a different offset (delay in the time it takes one servo to get to the angle of the previous one in the line of waves).

In this step we will be setting up a blinking LED, similar to this instructable tutorial. Though this is a simple step, it might be useful to learn more information about how the setup works, as we will not be going through specifics in this step. This article needs additional citations for verification. Please help improve this article by adding citations to reliable sources. Unsourced material may be challenged and removed. Again, in this step, we found it was easiest to draw out what we wanted timing wise, so we could easily see when to turn on and off each component. The vibration motor will need to be as long as the snake itself so it will be able to rattle the tail.If the steps got taller and more slippery, the snake would move more slowly and wriggle their front and rear body less to maintain stability. If any of the servo joints are stiff or the metal is rubbing, I add some grease between the rubbing sections. I think if you added a tank (or multiple outlet tubes) to the pump, then another pump to empty that tank/tubes you could use the first to take on water and sink and the other to empty the tank or both as forward propulsion but all of this would greatly reduce the longevity but for some applications like marine life monitoring that would probably be acceptable.